I am studying mobile robots, and I am focusing my attention to the unycicle. I have a doubt concerning the motion planning part. In particular I don't understand when the motion planning is done and where to put a motion planning module in a block scheme.
Suppose I want to build an artificial potential field to drive the robot to an initial position to a final position. I don't understand if I have to do first the localization, for example using an Extended Kalman Filter, or the localization comes after.
For what I have undeerstood, I first need to stabilize the system, for example using feedback linearization, and then pass the velocity inputs to the robot. Then I have seen that we do localization, which if we look at a block scheme will be in the feedback part.
But, in this block scheme I don't undesrtand where to do motion planning.
Can somebody please help me?
[EDIT] I have to fill my block scheme with three elemnts:
-A robot-independent module that uses the environment geometry and the assigned goal to build an artificial force field $f(p)$.
-A module that transforms the artificial command f(p) into actual velocity inputs $v$,$ ω$.
-. A module that computes the robot state needed by the first two.
the robot I am considering is a unycicle were $q = (p, θ)$ is the robot configuration, with $p = (x, y)$, and by $v$,$ ω$ its velocity inputs. An idea that came into my mind is to wrrite a block scheme where I perform input-output linearization, so I have to add a decoupling matrix $T(x)$, which will work as module that transforms the artificial command f(p) into the velocities, but the rest I don't know much how to do. For example what I tried is:
but for sure it is not correct, since I am not considering $f(q)$ and I don't know how to place the motion planning part.
I am considering artificial potential field.
Can somebody help me?
[EDIT] ingnore the arrow going a little bit out in the feedback, it is a mistake I did when using the software. Sorry it is the first time I do i blck diagram on a software.